Fix deprecated hardware_interface API

.github/workflows/ros-ci.yml

@@ -4,9 +4,9 @@ name: CI
 # Specifies the events that trigger the workflow
 on:
   push:
-    branches: [ humble, jazzy, main]
+    branches: [ jazzy, main ]
   pull_request:
-    branches: [ humble, jazzy, main]
+    branches: [ jazzy, main ]
 
 # Defines a set of jobs to be run as part of the workflow
 jobs:
@@ -17,14 +17,14 @@ jobs:
       fail-fast: false
       matrix:
         ros_distribution:
-          - humble
+          # - humble
           - jazzy
           - rolling
         include:
           # ROS 2 Humble Hawksbill
-          - docker_image: ubuntu:jammy
-            ros_distribution: humble
-            ros_version: 2
+          # - docker_image: ubuntu:jammy
+          #   ros_distribution: humble
+          #   ros_version: 2
           # ROS 2 Jazzy Jalisco
           - docker_image: ubuntu:noble
             ros_distribution: jazzy

CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package dynamixel_hardware_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.5.1 (2025-12-10)
+------------------
+* Fixed deprecated interface for ros2 control
+* Contributors: Woojin Wie
+
 1.5.0 (2025-11-26)
 ------------------
 * Added comm_id/id concept for virtual_* devices.

include/dynamixel_hardware_interface/dynamixel_hardware_interface.hpp

@@ -113,12 +113,12 @@ class DynamixelHardware : public
 
   /**
    * @brief Initialization callback for hardware interface.
-   * @param info Hardware information for the system.
+   * @param params Parameters for the hardware component interface.
    * @return Callback return indicating success or error.
    */
   DYNAMIXEL_HARDWARE_INTERFACE_PUBLIC
-  hardware_interface::CallbackReturn on_init(const hardware_interface::HardwareInfo & info)
-  override;
+  hardware_interface::CallbackReturn on_init(
+    const hardware_interface::HardwareComponentInterfaceParams & params) override;
 
   /**
    * @brief Exports state interfaces for ROS2.
@@ -315,6 +315,7 @@ class DynamixelHardware : public
   using StatePublisher = realtime_tools::RealtimePublisher<DynamixelStateMsg>;
   rclcpp::Publisher<DynamixelStateMsg>::SharedPtr dxl_state_pub_;
   std::unique_ptr<StatePublisher> dxl_state_pub_uni_ptr_;
+  DynamixelStateMsg dxl_state_msg_;
 
   rclcpp::Service<dynamixel_interfaces::srv::GetDataFromDxl>::SharedPtr get_dxl_data_srv_;
   void get_dxl_data_srv_callback(

package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>dynamixel_hardware_interface</name>
-  <version>1.5.0</version>
+  <version>1.5.1</version>
   <description>
     ROS 2 package providing a hardware interface for controlling Dynamixel motors via the ROS 2 control framework.
   </description>

src/dynamixel_hardware_interface.cpp

@@ -56,9 +56,9 @@ DynamixelHardware::~DynamixelHardware()
 }
 
 hardware_interface::CallbackReturn DynamixelHardware::on_init(
-  const hardware_interface::HardwareInfo & info)
+  const hardware_interface::HardwareComponentInterfaceParams & params)
 {
-  if (hardware_interface::SystemInterface::on_init(info) !=
+  if (hardware_interface::SystemInterface::on_init(params) !=
     hardware_interface::CallbackReturn::SUCCESS)
   {
     RCLCPP_ERROR_STREAM(logger_, "Failed to initialize DynamixelHardware");
@@ -359,11 +359,9 @@ hardware_interface::CallbackReturn DynamixelHardware::on_init(
   dxl_state_pub_uni_ptr_ = std::make_unique<StatePublisher>(dxl_state_pub_);
 
   size_t num_of_pub_data = hdl_trans_states_.size();
-  dxl_state_pub_uni_ptr_->lock();
-  dxl_state_pub_uni_ptr_->msg_.id.resize(num_of_pub_data);
-  dxl_state_pub_uni_ptr_->msg_.dxl_hw_state.resize(num_of_pub_data);
-  dxl_state_pub_uni_ptr_->msg_.torque_state.resize(num_of_pub_data);
-  dxl_state_pub_uni_ptr_->unlock();
+  dxl_state_msg_.id.resize(num_of_pub_data);
+  dxl_state_msg_.dxl_hw_state.resize(num_of_pub_data);
+  dxl_state_msg_.torque_state.resize(num_of_pub_data);
 
   using namespace std::placeholders;
 
@@ -647,18 +645,18 @@ hardware_interface::return_type DynamixelHardware::read(
   dxl_comm_->ReadItemBuf();
 
   size_t index = 0;
-  if (dxl_state_pub_uni_ptr_ && dxl_state_pub_uni_ptr_->trylock()) {
-    dxl_state_pub_uni_ptr_->msg_.header.stamp = this->now();
-    dxl_state_pub_uni_ptr_->msg_.comm_state = dxl_comm_err_;
+  if (dxl_state_pub_uni_ptr_) {
+    dxl_state_msg_.header.stamp = this->now();
+    dxl_state_msg_.comm_state = dxl_comm_err_;
     for (auto it : hdl_trans_states_) {
-      dxl_state_pub_uni_ptr_->msg_.id.at(index) = it.id;
-      dxl_state_pub_uni_ptr_->msg_.dxl_hw_state.at(index) = dxl_hw_err_[it.id];
+      dxl_state_msg_.id.at(index) = it.id;
+      dxl_state_msg_.dxl_hw_state.at(index) = dxl_hw_err_[it.id];
       auto ts_it = dxl_torque_state_.find({it.comm_id, it.id});
       bool ts = (ts_it != dxl_torque_state_.end()) ? ts_it->second : false;
-      dxl_state_pub_uni_ptr_->msg_.torque_state.at(index) = ts;
+      dxl_state_msg_.torque_state.at(index) = ts;
       index++;
     }
-    dxl_state_pub_uni_ptr_->unlockAndPublish();
+    dxl_state_pub_uni_ptr_->try_publish(dxl_state_msg_);
   }
 
   if (rclcpp::ok()) {